%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Sajad Saeedi
% University of New Brunswick
% Copy Right 2012
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% ref: 
% S. Saeedi, L. Paull, M. Trentini, M. Seto, and H. Li, 
% Map Merging Using Hough Peak Matching, 
% Proceedings of the IEEE/RSJ International Conference on 
% Intelligent Robots and Systems (IROS), 
% Vilamoura, Portugal, October 7-12, pp. 4683 - 4688.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% a very basic combination of necessary commands to plot a map
function plotmap(map, clims)
    f = figure;
    %hd1 = get(f);
    %xf = hd1.Position(1);
    %yf = hd1.Position(2);
    %hf = hd1.Position(3);
    %wf = hf;
    %set(f,'Position',[503 300 417 417])
    hold on;
    set(gco, 'Ydir', 'normal');
    n1 = 640;
    n2 = 480;
    %xlim([0-n1/100 n1+n1/100]);ylim([0-n2/100 n2+n2/100]);
     xlim([200 560]);ylim([200 450]);
    % clims = [-1 1];
    imagesc(map, clims);
    colormap(gray)
    %axis square
    %axis([1 170 1 170]);
